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Path optimization method and system for traversal monitoring of unmanned ships in complex terrain sea areas

A path optimization, unmanned ship technology, applied in measurement devices, mapping and navigation, navigation and other directions, can solve problems such as inapplicability, falling into local optimal solutions, difficult to meet traversal requirements, etc., to improve work efficiency and reduce duplication. effect of path

Active Publication Date: 2022-04-15
STATE OCEAN TECH CENT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, according to the experience in the actual use process, the disadvantage of the artificial potential field method is that once the terrain is too complex, the unmanned ship may fall into the local optimal solution when using this algorithm to complete the traversal path planning, and then produce missing areas; Algorithm search efficiency is low, and it is difficult to meet the ergodicity requirements in the face of complex and changeable seabed environments; neural network algorithms and heuristic algorithms need to collect enough training sample data in advance to train the algorithm model, and there will be random selection and repeated coverage defects, it is not suitable for the requirements of online real-time terrain coverage scanning tasks in unknown and complex seabed areas
[0007] To sum up, the traditional path traversal algorithm suitable for unmanned ships is difficult to meet the traversal and inspection needs of unmanned ships in offshore multi-island reefs, submerged reefs, and multi-bay areas.

Method used

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  • Path optimization method and system for traversal monitoring of unmanned ships in complex terrain sea areas
  • Path optimization method and system for traversal monitoring of unmanned ships in complex terrain sea areas
  • Path optimization method and system for traversal monitoring of unmanned ships in complex terrain sea areas

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] Preconditions:

[0053] Before traversing, first divide the grid lines according to the range of the traversing sea area and the range of the unmanned shipborne radar, and specify the traversal path according to the order of the grid lines, and drive according to the predetermined route in the absence of obstacles. When an obstacle is encountered, the next traversal point is selected according to formula 1.

[0054] formula:

[0055] Among them, P is the probability corresponding to each point to be traversed, A is the weight of each point to be traversed, and θ is the steering angle.

[0056] Formula description:

[0057] (1) P is the probability corresponding to each point, the larger the P, the higher the probability of the point being selected as the next traversal point;

[0058] (2) A is the weight of the point, which increases sequentially according to the grid line of the unmanned ship from the starting point to the end point, and the weight of the starting...

Embodiment 2

[0081] Such as figure 1 As shown, the present invention also provides a path optimization system for unmanned ships in traversal monitoring in complex terrain sea areas, the system comprising:

[0082] The distribution determination module 101 of the points to be traversed is used to determine the distance between the grid lines within the range of the traversed area and the distribution of the points to be traversed on the grid lines according to the search range and the search area of ​​the unmanned ship radar.

[0083] The weight setting module 102 is configured to increase the corresponding weights from the start grid line to the end grid line, and the weights corresponding to multiple points to be traversed on the same grid line are equal to the weights corresponding to the grid line.

[0084] The first selection module 103 is configured to add all points to be traversed to the remaining pool, select any point to be traversed from the remaining pool as a starting point to...

Embodiment 3

[0095] Such as figure 2 As shown, (a) is an optimal working path diagram, (b) is a schematic diagram of stored points to be traversed in the traversed pool, (c) is a schematic diagram of stored points to be traversed in the obstacle pool, (d) is a schematic diagram of the remaining The schematic diagram of points to be traversed is stored in the pool. Under normal circumstances, there are no obstacles in the traversal sea area, and the unmanned ship traverses step by step according to the divided grid. For example, when the unmanned ship travels to point 20 to be traversed, the traversable points it can scan are point 13 to be traversed, point 19 to be traversed, point 29 to be traversed and point 21 to be traversed, wherein point 13 to be traversed, point to be traversed The traversal point 19 is in the traversed pool and is no longer considered. When the point 29 to be traversed and the point 21 to be traversed are selected, according to formula 1, the weight of the point...

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Abstract

The present invention discloses a path optimization method and system for the traversal monitoring of an unmanned ship in a sea area with complex topography. Firstly, the distribution of the points to be traversed on the grid line within the range of the traversed area is determined; , then judge whether there are still points to be traversed around the starting point; if so, select the point to be traversed with the highest probability, and take the path between the starting point and the point to be traversed with the highest probability as the optimal working path, and use the point with the highest probability The point to be traversed is used as the next starting point; if it does not exist, select the point to be traversed that satisfies the traversal condition from the remaining pool as the next starting point, and judge whether the remaining pool is empty; if it is empty, the traversal ends; if the remaining If the pool is not empty, re-evaluate the obstacle. The scheme disclosed by the invention realizes the traversal inspection in offshore areas with multiple islands, reefs, submerged reefs, and multiple bays, and greatly reduces repeated paths while avoiding missing bays and dead ends.

Description

technical field [0001] The invention relates to the technical field of path optimization, in particular to a path optimization method and system for unmanned ships in traversal monitoring of sea areas with complex topography. Background technique [0002] my country has a vast territory, a long coastline, and numerous archipelagos and submerged reefs. All-weather and normalized monitoring of the marine environment near the coast and around the islands, and real-time grasp of the changing trends of the water surface and underwater environmental elements are of great importance to environmental protection, security, and national defense. is of great significance. However, the terrain conditions of "coastal landform" are complex, and generally belong to areas with many islands, reefs, and bays. It is extremely difficult to monitor the marine environment in coastal waters by using traditional manned ships for manual sampling. The fuel is easy to cause secondary pollution to the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 李亚文姜民王斌党超群张锁平
Owner STATE OCEAN TECH CENT